itskalvik/bluerov_ros_playground

Scripts to simualte BlueRov2 in Gazebo with ROS interface

BlueRov-ROS-playground

Bluerov2 Gazebo simulation.

Setup

1. Install freebuoyancy_gazebo plugin for buoyancy simulation.

2. Install ardupilot_gazebo plugin for ardupilot-gazebo communication.

3. Run BlueRov2 Gazebo model without ROS and MAVROS

   1. Download bluerov_ros_playground

      git clone https://github.com/kdkalvik/bluerov_ros_playground/
      cd bluerov_ros_playground/

   2. Run Gazebo model

      cd bluerov_ros_playground
      source gazebo.sh
      gazebo worlds/underwater.world -u
      # Start the simulation

4. Run BlueRov2 Gazebo model with ROS and MAVROS

   1. Make sure you have ROS kinetic installed and then install mavros

      sudo apt-get install ros-kinetic-mavros*

   2. Download bluerov_ros_playground

      cd catkin_ws/src
      git clone https://github.com/kdkalvik/bluerov_ros_playground/
      cd ..
      catkin_make

   3. Run Gazebo model

      cd catin_ws/src/bluerov_ros_playground
      source gazebo.sh
      roslaunch bluerov_ros_playground gazebo_sitl.launch
      # Start the simulation

5. Execute ArduSub SITL

   sim_vehicle.py -f gazebo-bluerov2 -I 0 -j4 -D -L RATBeach --console

The console will start to display the output if the connection was successful (Use QGC to control the ROV).